Autonomous movement system, autonomous movement method, and autonomous movement program

ABSTRACT

An autonomous movement system according to an embodiment is an autonomous movement system that performs autonomous movement in a facility including an elevator, in which the autonomous movement system moves a waiting position in a car of the elevator, based on a person that gets on the car or an object that gets on the car. The autonomous movement system may determine the person or the object before the car stops at a floor or before a car door opens.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No.2021-015378 filed on Feb. 3, 2021, incorporated herein by reference inits entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to an autonomous movement system, anautonomous movement method and an autonomous movement program.

2. Description of Related Art

WO2017/199343 describes an elevator system that moves an autonomousmovement device to a position near a door in the case where a floorwhere a car of an elevator arrives is a destination floor for theautonomous movement device.

SUMMARY

In the case where a person or an object gets on the elevator at a floorbefore the destination floor, the autonomous movement device can blockthe movement path for the person or the object.

The present disclosure has been made for solving the problem, andprovides an autonomous movement system, an autonomous movement methodand an autonomous movement program that makes it possible to restrainthe blocking of the movement path for the person or the object.

An autonomous movement system according to an embodiment is anautonomous movement system that performs autonomous movement in afacility including an elevator, in which the autonomous movement systemmoves a waiting position in a car of the elevator, based on a personthat gets on the car or an object that gets on the car. By thisconfiguration, it is possible to restrain the blocking of the movementpath for the person or the object.

The above autonomous movement system may determine the person or theobject before the car stops at a floor or before a door of the caropens, and may move the waiting position before the car stops at thefloor or before the door of the car opens. By this configuration, it ispossible to shorten a time during which the car stops at the floor.

In a case where the car arrives at a destination floor for theautonomous movement system before the car arrives at a destination floorfor the person or the object, the above autonomous movement system mayonce get off the car on a floor where the person or the object gets onthe car, and may get on the car after the person or the object gets onthe car. By this configuration, it is possible to restrain theinterference with the person or the object, and to safely move.

In the above autonomous movement system, the object may be anotherautonomous movement system, and the autonomous movement system mayacquire information about a destination floor for the other autonomousmovement system, before the car stops at a floor or before a door of thecar opens. By this configuration, it is possible to restrain a pluralityof autonomous movement systems from blocking the movement path for theperson or the object.

An autonomous movement system according to an embodiment includes: anautonomous movement device that performs autonomous movement in afacility including an elevator; and a server device that exchangestraveling information with the autonomous movement device, in which theserver device moves a waiting position of the autonomous movement devicein a car of the elevator, based on a person that gets on the car or anobject that gets on the car. By this configuration, it is possible torestrain the blocking of the movement path for the person or the object.

In the above autonomous movement system, the server device may determinethe person or the object before the car stops at a floor or before adoor of the car opens, and may move the waiting position of theautonomous movement device before the car stops at the floor or beforethe door of the car opens. By this configuration, it is possible toshorten the time during which the car stops at the floor.

In the above autonomous movement system, in a case where the car arrivesat a destination floor for the autonomous movement device before the cararrives at a destination floor for the person or the object, the serverdevice may cause the autonomous movement device to once get off the caron a floor where the person or the object gets on the car, and may causethe autonomous movement device to get on the car after the person or theobject gets on the car. By this configuration, it is possible torestrain the interference with the person or the object, and to safelymove.

In the above autonomous movement system, as the autonomous movementdevice, there may be a plurality of autonomous movement devicesincluding a first autonomous movement device and a second autonomousmovement device, the autonomous movement device in the car may be thefirst autonomous movement device, the object may be the secondautonomous movement device, and the server device may send informationabout a destination floor for the second autonomous movement device tothe first autonomous movement device, before the car stops at a floor orbefore a door of the car opens. By this configuration, it is possible torestrain a plurality of autonomous movement systems from blocking themovement path for the person or the object.

An autonomous movement method according to an embodiment is anautonomous movement method for an autonomous movement device thatperforms autonomous movement in a facility including an elevator, theautonomous movement method including: a step of determining, in a car ofthe elevator, a person that gets on the car or an object that gets onthe car; and a step of moving a waiting position in the car, based onthe person or the object. By this configuration, it is possible torestrain the blocking of the movement path for the person or the object.

An autonomous movement program according to an embodiment is anautonomous movement program for an autonomous movement device thatperforms autonomous movement in a facility including an elevator, theautonomous movement program causing a computer to execute: determining,in a car of the elevator, a person that gets on the car or an objectthat gets on the car; and moving a waiting position in the car, based onthe person or the object. By this configuration, it is possible torestrain the blocking of the movement path for the person or the object.

With the embodiments, it is possible to provide an autonomous movementsystem, an autonomous movement method and an autonomous movement programthat make it possible to restrain the blocking of the movement path forthe person or the object.

BRIEF DESCRIPTION OF THE DRAWINGS

Features, advantages, and technical and industrial significance ofexemplary embodiments of the disclosure will be described below withreference to the accompanying drawings, in which like signs denote likeelements, and wherein:

FIG. 1 is a schematic diagram exemplifying a mobile robot according toEmbodiment 1;

FIG. 2 is a perspective view exemplifying the mobile robot according toEmbodiment 1;

FIG. 3 is a block diagram exemplifying the mobile robot according toEmbodiment 1;

FIG. 4 is a conceptual diagram exemplifying an elevator in a facilityaccording to Embodiment 1;

FIG. 5 is a plan view exemplifying a movement method of the mobile robotin the facility including the elevator according to Embodiment 1;

FIG. 6 is a plan view exemplifying a movement method of the mobile robotin the facility including the elevator according to Embodiment 1;

FIG. 7 is a flowchart exemplifying a movement method of the mobile robotin the facility including the elevator according to Embodiment 1;

FIG. 8 is a block diagram exemplifying a server device according toEmbodiment 2; and

FIG. 9 is a sequence diagram exemplifying a behavior of an autonomousmovement system according to Embodiment 2.

DETAILED DESCRIPTION OF EMBODIMENTS

The present disclosure will be described below with embodiments of thepresent disclosure. The disclosure according to the claims is notlimited to embodiments described below. Further, all of configurationsdescribed in the embodiments are not needed as means for solving theproblem. For clear explanation, in the following descriptions anddrawings, omission and simplification are performed when appropriate. Inthe drawings, identical elements are denoted by identical referencecharacters, and repetitive descriptions are omitted as necessary.

Embodiment 1

An autonomous movement system according to Embodiment 1 will bedescribed. In the embodiment, an autonomous movement system may bereplaced by an autonomous movement device, and the autonomous movementdevice may be replaced by the autonomous movement system. Further, itmay be understood that the autonomous movement system in the embodimentincludes the autonomous movement device. The autonomous movement deviceperforms autonomous movement in a predetermined facility. For example,the autonomous movement device may be a mobile robot that performsautonomous movement, or may be a carrying robot that performs autonomousmovement for carrying an article. The mobile robot will be describedbelow as an example of the autonomous movement device. The mobile robotwill be described by being divided into Configuration of Mobile Robotand Behavior of Mobile Robot.

Configuration of Mobile Robot

FIG. 1 is a schematic diagram exemplifying a mobile robot according toEmbodiment 1. As shown in FIG. 1, a mobile robot 100 is an example of anautonomous movement device that performs autonomous movement in afacility 900 including an elevator 700. For example, the facility 900 isa hospital. The predetermined facility 900 is not limited to thehospital, and may be a hotel, a shopping mall or the like, as long asthe facility 900 includes the elevator 700 and the mobile robot 100 canperform autonomous movement in the facility 900.

The mobile robot 100 performs autonomous movement on a floor surface 910in the facility 900. A facility camera 400 is fixed in the facility 900.A plurality of facility cameras 400 may be provided in the facility 900.For example, the facility camera 400 is fixed on a ceiling 920 of thefacility 900, and photographs the periphery of the facility camera 400,to generate image data.

The facility camera 400 may be fixed on the ceiling 920 of a floor wherea car 750 of the elevator 700 stops, and may photograph an elevator hall760. The elevator hall 760 is disposed near an elevator door 770. Theelevator door 770 opens or closes together with a door (referred to as acar door 740) of the car 750 stopped at a floor where the elevator door770 is provided. The facility camera 400 may be fixed on the ceiling 920of the car 750 of the elevator 700, and may photograph the interior ofthe car 750. The car 750 is a box-shaped structure that contains aperson or an object and that rises or falls from a position contactingwith the elevator hall 760.

The mobile robot 100 and the facility camera 400 are connected so as tocommunicate with each other through information transmission means suchas wireless communication. For example, the mobile robot 100 and thefacility camera 400 may be connected so as to directly communicate, ormay be connected so as to communicate through an access point 500 and aserver device 300. Consequently, the mobile robot 100 may directlyacquire the image data from the facility camera 400, or may acquire theimage data through the access point 500 and the server device 300.

For example, the access point 500 is an access point for a wireless LAN.The access point 500 is fixed in the facility 900, and acquires positioninformation, traveling information and the like from the mobile robot100 inside a predetermined range in the periphery of the access point500. In the facility 900, a plurality of access points 500 may beprovided. The access point 500 may be fixed on the ceiling 920 of theelevator hall 760, and may be fixed on the ceiling 920 of the car 750 ofthe elevator 700.

In the facility 900, a plurality of mobile robots 100 may performautonomous movement. The plurality of mobile robots 100 may be connectedso as to communicate with each other through information transmissionmeans such as wireless communication. For example, the plurality ofmobile robots 100 may be connected so as to directly communicate witheach other, or may be connected so as to communicate with each otherthrough the access point 500 and the server device 300.

FIG. 2 is a perspective view exemplifying the mobile robot 100 accordingto Embodiment 1. FIG. 3 is a block diagram exemplifying the mobile robot100 according to Embodiment 1. As shown in FIG. 2 and FIG. 3, the mobilerobot 100 includes a drive unit 110, a housing unit 120, a communicationunit 130, an operation acceptance unit 140, a display unit 150, a sensorgroup 160, an ID sensor 170, a control unit 180, and a storage unit 190.

As shown in FIG. 2, the mobile robot 100 is a mobile body that moves onthe floor surface 910 as a movement surface. Here, an XYZ orthogonalcoordinate axis system is used for convenience of description of themobile robot 100. The floor surface 910 is on an X-Y plane, and theupward direction is a +Z-axis direction.

The drive unit 110 functions as movement means for the mobile robot 100.The drive unit 110 includes two drive wheels 111 contacting with thefloor surface 910 and casters 112 contacting with the floor surface. Thetwo drive wheels 111 are set so as to rotate about one rotation shaftextending in a direction (a right-left direction or a Y-axis directionin the figure) orthogonal to a straight-ahead direction (a front-reardirection or an X-axis direction in the figure), independently from eachother. The mobile robot 100 performs forward movement or rearwardmovement by driving the drive wheels 111 disposed on right and leftsides at an identical rotation number, and performs turning by making adifference in rotation speed or rotation direction between the right andleft drive wheels 111. The drive unit 110 drives the drive wheels 111 inresponse to an instruction from the control unit 180.

The housing unit 120 is disposed above the drive unit 110 in the mobilerobot 100. The housing unit 120 may include a containing chamber door121. When the containing chamber door 121 is opened, a containingchamber for containing a predetermined article is provided within thehousing unit 120. That is, the mobile robot 100 can serve as a carryingrobot that carries the predetermined article. The housing unit 120 mayopen or close the containing chamber door 121 in response to aninstruction from the control unit 180.

As shown in FIG. 3, the communication unit 130 is an interface forcommunicable connection with the exterior. For example, thecommunication unit 130 includes an antenna, a circuit that performsmodulation or demodulation of a signal to be sent through the antenna,and the like. The communication unit 130 receives the image datadirectly from the facility camera 400 or through the access point 500and the server device 300.

The communication unit 130 may exchange information relevant to adestination, information of whether to move, position information,traveling information, destination floor information and the like, withthe server device 300. Further, the communication unit 130 may exchangethe position information, the traveling information, the image data, thedestination floor information and the like with another mobile robot100, directly or through the access point 500 and the server device 300.

The communication unit 130 may periodically send a heartbeat signal tothe server device 300. The heartbeat signal may include log dataindicating the state of the mobile robot 100 in a chronological order.Further, the heartbeat signal may include an identification (ID) of themobile robot 100 and an ID of a user.

The communication unit 130 is connected with the control unit 180. Thecommunication unit 130 outputs a signal including information sent fromthe facility camera 400 and the server device 300, to the control unit180, and sends a signal output from the control unit 180, to the serverdevice 300.

The operation acceptance unit 140 accepts an input operation from theuser, and sends an operation signal to the control unit 180. As meansfor accepting the input operation from the user, the operationacceptance unit 140 may include an operation button, or a touch panelsuperimposed on the display unit 150, for example. By operating theinput operation means, the user turns an electric power source on oroff, and opens or closes the containing chamber door 121.

For example, the display unit 150 is provided on an upper surface of thehousing unit 120, so as to protrude. For example, the display unit 150is a display unit that includes a rectangular liquid crystal panel. Thedisplay unit 150 appropriately displays information in response to aninstruction from the control unit 180. A touch panel that accepts anoperation from the user may be superimposed on the display unit 150.

The sensor group 160 includes a sensor that acquires data necessary forthe autonomous movement of the mobile robot 100. For example, the sensorgroup 160 includes a robot camera 161 and a distance sensor 162. Thesensor group 160 may include a sensor other than the robot camera 161and the distance sensor 162.

For example, the robot camera 161 is disposed at an upper portion of thehousing unit 120 below the display unit 150. As the robot camera 161,two camera units having an identical angular field may be disposed so asto be horizontally away from each other. Thereby, images photographed bythe respective camera units are output to the control unit 180 as theimage data.

In the case where the mobile robot 100 is in the elevator hall 760, therobot camera 161 may photograph the elevator hall 760. In the case wherethe mobile robot 100 is in the car 750 of the elevator 700, the robotcamera 161 may photograph the interior of the car 750.

For example, the distance sensor 162 is disposed at a lower portion ofthe housing unit 120. The distance sensor 162 may be disposed at eachlower portion of a +X-axis direction side surface, a −X-axis directionside surface, a +Y-axis direction side surface and a −Y-axis directionside surface of the housing unit 120. The distance sensor 162 measuresthe distance from a physical body in the periphery of the mobile robot100. The control unit 180 analyzes the image data output by the robotcamera 161 and a detection signal output by the distance sensor 162.Thereby, the control unit 180 recognizes an obstacle in the periphery ofthe mobile robot 100, and measures the distance between the mobile robot100 and the obstacle.

For example, the ID sensor 170 is provided near the display unit 150.The ID sensor 170 identifies the ID of the user that operates the mobilerobot 100, and detects a unique identifier included in an ID card thatis owned by the user. For example, the ID sensor 170 includes an antennafor reading information in a wireless tag. The user puts the ID cardclose to the ID sensor 170, and thereby causes the mobile robot 100 torecognize the ID of the user that is an operator.

The control unit 180 is an information processing device that includes acomputation device such as a central processing unit (CPU). The controlunit 180 includes hardware in the control unit 180 and programs storedin the hardware. That is, a process to be executed by the control unit180 is realized by one of hardware and software.

The control unit 180 acquires a variety of information from therespective constituents, and gives instructions to the respectiveconstituents depending on the acquired information. For example, thecontrol unit 180 detects the distance between the mobile robot 100 and aphysical body in the periphery of the mobile robot 100, from the imagedata acquired from the robot camera 161, the information about theperipheral physical body acquired from the distance sensor 162, and thelike. Then, the control unit 180 calculates a route to the destination,from the detected distance, the position information, the travelinginformation and the like. The control unit 180 gives an instruction formoving along the calculated route, to the drive unit 110. In the case ofexecuting this process, the control unit 180 refers to information abouta floor map and the destination floor information that are stored in thestorage unit 190.

Further, the control unit 180 may determine the mobile robot 100,person, object and others that wait in the elevator hall 760, based onthe image data acquired from the facility camera 400 or the robot camera161, and may calculate the numbers of mobile robots 100, persons,objects and others. Furthermore, the control unit 180 may determine themobile robot 100, person, object and others in the car 750 of theelevator 700, based on the image data acquired from the facility camera400 or the robot camera 161, and may calculate the numbers of mobilerobots 100, persons, objects and others.

The storage unit 190 includes a nonvolatile memory such as a flashmemory and a solid state drive (SSD). In the storage unit 190, the floormap of the facility that is used for the autonomous movement of themobile robot 100 is stored. Further, in the storage unit 190,destination floor information about another mobile robot 100, theperson, the object and others is stored. The storage unit 190 isconnected with the control unit 180, and outputs the stored informationto the control unit 180, in response to a request from the control unit180.

As shown in FIG. 2, the forward side of the mobile robot 100 is a+X-axis direction side on which the robot camera 161 is installed. Forthe definition of the forward side of the mobile robot 100, variousconcepts can be employed. For example, the forward side can be definedbased on how the sensor group 160 for recognizing the peripheralenvironment is disposed. Specifically, the forward side is defined asthe +X-axis direction side of the housing unit 120 on which a sensorhaving a high recognition capability is disposed or many sensors aredisposed. When the forward side is defined in this way, the mobile robot100 can move while recognizing the peripheral environment moreaccurately. For the mobile robot 100 in the embodiment, the forward sideis defined as the +X-axis direction side on which the robot camera 161is disposed.

Alternatively, the forward side can be defined based on how the displayunit 150 is disposed. When the display unit 150 displays the face of acharacter or the like, a person in the periphery naturally recognizesthat the forward side of the mobile robot 100 is the side of the displayunit 150. Hence, when the forward side is defined as the side of adisplay surface of the display unit 150, the person in the peripherydoes not have a strong strangeness feeling. For the mobile robot 100 inthe embodiment, the forward side is defined as the side of the displaysurface of the display unit 150.

Further, the forward side may be defined based on the housing shape ofthe mobile robot 100. For example, in the case where the projectionshape on a traveling surface of the housing unit 120 is a rectangle, thehousing unit 120 does not interfere with a passing person at the time ofmovement when the forward side is a shorter side, compared to when theforward side is a longer side. That is, depending on the housing shape,there is a housing surface that preferably should be the forward side atthe time of the ordinary movement. For the mobile robot 100 in theembodiment, the forward side is defined as the shorter side of therectangle. As described above, the forward side of the mobile robot 100is defined based on some concepts. The concept from which the forwardside is defined may be decided in consideration of the shape, role andothers of the mobile robot.

Behavior of Mobile Robot

Next, a behavior of the mobile robot in the embodiment will bedescribed. For example, the user turns on the electric power source ofthe mobile robot 100. Then, the user inputs a desired task to theoperation acceptance unit 140. When the user turns on the electric powersource or when the user operates the operation acceptance unit 140, theID of the user is identified by the ID sensor 170, as necessary.

For carrying an article as the desired task, the user operates theoperation acceptance unit 140, opens the containing chamber door 121,and puts the article in the containing chamber. Then, the user operatesthe operation acceptance unit 140, and closes the containing chamberdoor 121. Next, the user inputs a carry destination of the article fromthe operation acceptance unit 140. The user may input the destinationfloor information. The control unit 180 of the mobile robot 100 searchesa route to the carry destination using the floor map stored in thestorage unit 190. The control unit 180 may derive the destination floorinformation. The mobile robot 100 performs autonomous movement along thesearched route.

FIG. 4 is a conceptual diagram exemplifying the elevator 700 in thefacility 900 according to Embodiment 1. As shown in FIG. 4, the facility900 includes the elevator 700. The rise and fall of the car 750 of theelevator 700 may be controlled by an elevator control unit 780 providedin the facility 900.

The elevator control unit 780 is connected with a call switch 710 and adestination switch 720 in a communicable manner. The call switch 710 andthe destination switch 720 may be connected with the mobile robot 100and the server device 300 in a communicable manner.

For example, the call switch 710 is disposed near the elevator door 770of each floor where the car 750 stops. The call switch 710 calls the car750 of the elevator 700 to the floor. A person that hopes to get on thecar 750 turns the call switch 710 on. Then, the elevator control unit780 causes the car 750 to rise or fall to a floor for which the callswitch 710 is turned on, and stop at the floor.

The destination switch 720 is disposed in the car 750. The destinationswitch 720 allows the selection of the destination floor for the car750. A person gets on the car 750, and selects the destination floorthrough the destination switch 720. Then, the elevator control unit 780causes the car 750 to rise or fall to the destination floor selectedthrough the destination switch 720, and stop at the floor.

In the case where the total weight of persons and objects that have goton the car 750 is equal to or more than a predetermined weight, theelevator control unit 780 may output a display of over-weight, and maysound a buzzer when any further person or object gets on the car 750.Further, in the case where the total weight is equal to or more than thepredetermined weight, the elevator control unit 780 stops the car 750only at a floor selected through the destination switch 720, such thatany further person or object does not get on the car 750. In this way,the elevator control unit 780 provided in the facility 900 controls therise-fall and stop of the elevator 700.

The elevator control unit 780 may be connected with the mobile robot 100in a communicable manner, directly or through the server device 300 andthe access point 500. The server device 300 may control some functionsof the elevator control unit 780. Further, the server device 300 mayhave some functions of the elevator control unit 780. For example, theserver device 300 may cause the car 750 to rise or fall to a floor wherethe call switch 710 is turned on, and stop at the floor, or may causethe car 750 to rise or fall to a floor selected through the destinationswitch 720, and stop at the floor. In this way, the server device 300may control the rise and fall of the car 750.

The mobile robot 100 may have a fixed position for waiting, in the car750 of the elevator 700. For example, the mobile robot 100 may adopt apredetermined position in the car 750, as the fixed position. Forexample, the mobile robot 100 may adopt the back of the car 750 as thefixed position, such that many persons and objects can get on the car750. Further, the mobile robot 100 may adopt a position facing thedestination switch 720 as the fixed position, such that space isprovided near the destination switch 720 and a person having got on thecar 750 can operate the destination switch 720. Further, the mobilerobot 100 may adopt a position near the car door 740 as the fixedposition, such that the mobile robot 100 can get off the car 750immediately after the arrival at the destination floor.

In this way, the mobile robot 100 may adopt a fixed position in the car750, as the waiting position. The mobile robot 100 may come close to thecar door 740 when the car 750 becomes close to the floor where themobile robot 100 gets off the car 750. For example, in the case wherethe mobile robot 100 waits at the back of the car 750 as the fixedposition, the mobile robot 100 may move to the front of the car door 740when the car 750 becomes close to the floor where the mobile robot 100gets off the car 750. Thereby, the mobile robot 100 can get off the car750 immediately after the arrival at the destination floor.

The mobile robot 100 may change the waiting position from the fixedposition in the car 750, based on the kind of the person that gets onthe car 750, the number of persons, the kind of the object that gets onthe car 750 and the number of objects.

FIG. 5 is a plan view exemplifying a movement method of the mobile robot100 in the facility 900 including the elevator 700 accordingEmbodiment 1. As shown in FIG. 5, in a car 750A of the elevator 700, amobile robot 100A moves the waiting position in the car 750A, based on aperson 610 that gets on the car 750A. In the case where the mobile robot100 is collectively indicated, the mobile robot 100 is referred to as amobile robot 100, and in the case where a particular mobile robot 100 isindicated, the mobile robot 100 is referred to as a mobile robot 100Awhile “A” or the like is put. The same goes for the car 750.

For example, the mobile robot 100A waits at the back of the car door 740as the fixed position. In the case where the person 610 that gets on thecar 750 is an old person, a patient or the like and uses a handrail inthe car 750, the mobile robot 100A moves the waiting position from thevicinity of the handrail to the front of the car door 740. Further, inthe case where the person 610 that gets on the car 750A is an oldperson, a patient or the like, the mobile robot 100A may move thewaiting position such that the distance from the old person, the patientor the like is kept, for preventing the old person, the patient or thelike from staggering and stumbling.

The mobile robot 100A that adopts the front of the car door 740 as thewaiting position may move the waiting position and may provide space inthe front of the destination switch 720, such that the person 610 thatgets on the car 750A can push the destination switch 720. Further, inthe case where the destination floor selected through the destinationswitch 720 by the person 610 that gets on the car 750A is a floor wherethe car 750A arrives after the destination floor for the mobile robot100A, the mobile robot 100A moves the waiting position to the front ofthe car door 740.

In a car 750B of the elevator 700, mobile robots 100B, 100C move thewaiting positions in the car 750B, based on an object 620 that gets onthe car 750B. For example, in the case where the object 620 that gets onthe car 750B is a stretcher, the mobile robots 100B, 100C move thewaiting positions so as to be arrayed along a direction in which thestretcher extends. Specifically, in the case where the stretcher isdisposed in the car 750B so as to extend in the X-axis direction in thefigure, which is a direction from the car door 740 to the back, themobile robots 100B, 100C move the waiting positions so as to be arrayedalong the X-axis direction. Further, in the case where persons 610 thatget on the car 750B are a person 610 in a wheelchair and a person 610that pushes the wheelchair, the mobile robots 100B, 100C moves so as tobe arrayed along the front-rear direction of the wheelchair.

FIG. 6 is a plan view exemplifying a movement method of the mobile robot100 in the facility 900 including the elevator 700 according toEmbodiment 1. As shown in FIG. 6, the mobile robot 100 may determine theperson 610 or object 620 that gets on the car 750, before the car 750stops at the floor or before the car door 740 opens.

For example, the mobile robot 100 may acquire image data about theperson 610 or object 620 that gets on the car 750, from the image dataof the facility camera 400 that photographs the elevator hall 760.Thereby, the mobile robot 100 can obtain information about the person610 or object 620 that waits for the car 750 on a floor where the car750 will stop. Consequently, the mobile robot 100 can determine theperson 610 or object 620 that gets on the car 750, before the car 750stops at the floor or before the car door 740 opens.

The mobile robot 100 may determine whether the mobile robot 100 can waitat the same waiting position even after the person 610 or the object 620gets on the car 750. In the case where the mobile robot 100 determinesthat the mobile robot 100 can wait at the same waiting position, themobile robot 100 waits at the same waiting position with no change. Onthe other hand, in the case where the mobile robot 100 determines thatthe mobile robot 100 cannot wait at the same position, the mobile robot100 moves the waiting position.

For example, the mobile robot 100A waiting at the back of the car door740 acquires image data about the elevator hall 760. Then, the mobilerobot 100A determines that the person 610 that gets on the car 750A isan old person, a patient or the like. In this case, the mobile robot100A determines that the mobile robot 100A cannot wait at the back ofthe car door 740 where the handrail is provided.

When the mobile robot 100A determines the person 610 or object 620 thatgets on the car 750, the mobile robot 100A may use image data of anothermobile robot 100 that photographs the elevator hall 760, other than theimage data of the facility camera 400 in the elevator hall 760.

In the case where the mobile robot 100 determines that the mobile robot100 cannot wait at the same waiting position when the person 610 or theobject 620 gets on the car 750, the mobile robot 100 may move thewaiting position before the car 750 stops at the floor or before the cardoor 740 opens. Thereby, it is possible to shorten a time during whichthe car 750 stops at the floor.

The mobile robot 100 may acquire information about the destination floorfor the person 610 or object 620 that waits for the arrival of the car750 in the elevator hall 760, that is, the person 610 or object 620 thatwill get on the car 750.

For example, in the case where the object 620 that gets on the car 750Ais another mobile robot 100D, the mobile robot 100A in the car 750A mayacquire information about the destination floor for the mobile robot100D, directly or through the server device 300. Consequently, themobile robot 100A acquires the information about the destination floorfor the mobile robot 100D, before the car 750 stops at the floor orbefore the car door 740 opens.

For example, in the case where the object 620 that gets on the car 750Bis a stretcher that goes toward an intensive-care unit in a hospital,the mobile robot 100B in the car 750B may acquire information about thedestination floor for the stretcher, from the storage unit 190 or theserver device 300. For example, in the case where the object 620 thatgets on the car 750B is a container that contains waste, the mobilerobot 100B in the car 750B may acquire information about the destinationfloor for the container, from the storage unit 190 or the server device300. For example, in the case where the person 610 that gets on the car750A is a patient that uses a particular patient's room in a hospital,the mobile robot 100A in the car 750A may acquire information about thedestination floor for the patient, from the storage unit 190 or theserver device 300. Floor information about the intensive-care unit, awaste collection place and the particular patient's room is previouslystored in the storage unit 190 and the server device 300. Further, apredetermined person 610 or predetermined object 620 and floorinformation may be previously associated with each other and may bestored in the storage unit 190 and the server device 300.

The car 750 can arrive at the destination floor for the mobile robot 100before the car 750 arrives at the destination floor for the person 610or the object 620. In that case, the mobile robot 100 gets off the car750 earlier than the person 610 or object 620 that will get on the car750 later. Consequently, it is preferable that the waiting position ofthe mobile robot 100 be closer to the car door 740 than the position ofthe person 610 or the object 620.

Consequently, in the case where the car 750 arrives at the destinationfloor for the mobile robot 100 before the car 750 arrives at thedestination floor for the person 610 or the object 620, the mobile robot100 once gets off the car 750 on the floor where the person 610 or theobject 620 gets on the car 750, and gets on the car 750 after the person610 or the object 620 gets on the car 750. Thereby, the mobile robot 100can get off the car 750 immediately after the arrival at the destinationfloor.

A movement behavior of the mobile robot 100 in the facility 900 will bedescribed with reference to a flowchart. FIG. 7 is a flowchartexemplifying a movement method of the mobile robot 100 in the facility900 including the elevator 700 according to Embodiment 1.

As shown in step S101 of FIG. 7, the mobile robot 100 determines theperson 610 or object 620 that gets on the car 750 of the elevator 700.For example, the mobile robot 100 may determine the person 610 or object620 that gets on the car 750, based on the information detected by thesensor group 160, specifically, the image data of the robot camera 161.Further, the mobile robot 100 may determine the person 610 or object 620that gets on the car 750, based on the image data of the facility camera400 in the elevator hall 760.

In step S101, the mobile robot 100 may determine the person 610 or theobject 620, before the car 750 stops at the floor or before the car door740 opens. Further, in step S101, the mobile robot 100 may determine theearlier one of the destination floor for the person 610 or the object620 and the destination floor for the mobile robot 100.

Next, as shown in step S102, the mobile robot 100 moves the waitingposition based on the person 610 or object 620 that gets on the car 750of the elevator 700.

In step S102, the mobile robot 100 may move the waiting position, beforethe car 750 stops at the floor or before the car door 740 opens.Further, in step S102, in the case where the destination floor for themobile robot 100 is earlier, that is, in the case where the car 750arrives at the destination floor for the mobile robot 100 earlier beforethe car 750 arrives at the destination floor for the person 610 or theobject 620, the mobile robot 100 may once get off the car 750 on thefloor where the person 610 or the object 620 gets on the car 750, andmay get on the car 750 after the person 610 or the object 620 gets onthe car 750.

Next, effects of the embodiment will be described. The mobile robot 100in the embodiment moves the waiting position in the car 750, based onthe person 610 or object 620 that gets on the car 750 of the elevator700. Consequently, the mobile robot 100 can wait at an optimal positionbased on the kind of the person 610 or object 620 that gets on the car750, and therefore, it is possible to restrain the blocking of themovement path for the person 610 or the object 620.

Further, the mobile robot 100 determines the person 610 or the object620 and moves the waiting position, before the car 750 stops at thefloor or before the car door 740 opens. Consequently, it is possible toshorten the time after the car door 740 opens and before the person 610or the object 620 gets on the car 750, and to shorten the time duringwhich the car 750 stops at the floor.

Furthermore, in the case where the car 750 arrives at the destinationfloor for the mobile robot 100 earlier before the car 750 arrives at thedestination floor for the person 610 or the object 620, the mobile robot100 once gets off the car 750 on the floor where the person 610 or theobject 620 gets on the car 750, and gets on the car 750 after the person610 or the object 620 gets on the car 750. Consequently, it is possibleto restrain the interference with the person 610 or the object 620, andto safely move.

The object 620 may be another mobile robot 100, and the mobile robot 100may acquire information about the destination floor for the other mobilerobot 100, before the car 750 stops at the floor or before the car door740 opens. Thereby, it is possible to restrain the blocking of themovement route for the person 610 or the object 620, even when aplurality of mobile robots 100 gets on the car 750.

Embodiment 2

Next, an autonomous movement system according to Embodiment 2 will bedescribed. The autonomous movement system in the embodiment is a systemthat controls an autonomous movement device that performs autonomousmovement in a facility 900 including an elevator 700. The autonomousmovement system will be described by being divided into Configuration ofAutonomous Movement System and Behavior of Autonomous Movement System.

Configuration of Autonomous Movement System

The autonomous movement system includes a mobile robot 100. Theautonomous movement system may include a plurality of mobile robots 100.Further, the autonomous movement system may include a server device 300in addition to the mobile robot 100.

Mobile Robot

The configuration of the mobile robot 100 in the embodiment is the sameas that in Embodiment 1 described above. The mobile robot 100 in theembodiment may cause the server device 300 to execute some functions ofthe mobile robot 100 in Embodiment 1.

For example, the determination of the person 610 or object 620 that getson the car 750 may be performed by the server device 300. On thatoccasion, the determination of the person 610 or the object 620 may beperformed before the car 750 stops at the floor or before the car door740 opens. Further, the destination floor information about the person610 or object 620 that gets on the car 750 may be acquired by the serverdevice 300. Furthermore, the waiting position of the mobile robot 100 inthe car 750 may be derived by the server device 300.

Server Device

For example, the server device 300 is a computer that has acommunication function. The server device 300 may be installed at anarbitrary place as long as the server device 300 can communicate withconstituents of the autonomous movement system. The server device 300exchanges traveling information with the mobile robot 100. Further, theserver device 300 may control the rise and fall of the car 750 of theelevator 700, by controlling the elevator control unit 780 or instead ofthe elevator control unit 780.

FIG. 8 is a block diagram exemplifying the server device according theEmbodiment 2. As shown in FIG. 8, the server device 300 includes acommunication unit 330, a control unit 380 and a storage unit 390.

The communication unit 330 individually communicates with the mobilerobot 100. The communication unit 330 outputs signals received from theconstituents, to the control unit 380. Further, the communication unit330 sends signals output from the control unit 380, to constituents,when appropriate. The communication unit 330 may include a router devicefor communicating with the server device 300 and a plurality ofconstituents. The communication unit 330 may include a plurality ofdifferent communication means respectively corresponding to constituentelements in order to communicate with the server device 300 and aplurality of constituents. The communication unit 330 may be connectedwith the constituents through an intranet or internet line in acommunicable manner.

The control unit 380 is constituted by a computation device such as aCPU, and performs various information processes. The control unit 380may determine the person 610 or object 620 that gets on the car 750,based on the image data about the elevator hall 760. Further, thecontrol unit 380 may acquire the destination floor information about theperson 610 or object 620 that gets on the car 750. Furthermore, thecontrol unit 380 may derive the waiting position of the mobile robot 100in the car 750.

The storage unit 390 includes a nonvolatile memory such as a flashmemory and an SSD. In the storage unit 390, the floor map of thefacility that is used for the autonomous movement of the mobile robot100 is stored. Further, the destination floor information about theperson 610 or the object 620 may be stored in the storage unit 390. Thestorage unit 390 is connected with the control unit 380, and outputs thestored information to the control unit 380, in response to a requestfrom the control unit 380.

Behavior of Autonomous Movement System

Next, a behavior of the autonomous movement system will be described.FIG. 9 is a sequence diagram exemplifying the behavior of the autonomousmovement system according to Embodiment 2.

As shown in step S201 of FIG. 9, the server device 300 may request theimage data about the interior of the car 750 of the elevator 700, to themobile robot 100 in the car 750. In response to this request, as shownin step S202, the mobile robot 100 in the car 750 sends the image dataabout the interior of the car 750 that is photographed by the robotcamera 161, to the server device 300. The server device 300 receives theimage data.

Further, as shown in step S203, the server device 300 may request theimage data about the interior of the car 750, to the facility camera 400in the car 750 of the elevator 700. In response to this request, asshown in step S204, the facility camera 400 in the car 750 sends theimage data about the interior of car 750, to the server device 300. Theserver device 300 receives the image data. By steps S201 to S204, theserver device 300 acquires the waiting position of the mobile robot 100in the car 750.

Furthermore, as shown in step S205, the server device 300 requests theimage data about the elevator hall 760, to the facility camera 400 inthe elevator hall 760. In response to this request, as shown in stepS206, the facility camera 400 in the elevator hall 760 sends the imagedata about the elevator hall 760, to the server device 300. The serverdevice 300 receives the image data. By steps S205 to S206, the serverdevice 300 acquires the image data about the person 610 or object 620that gets on the car 750.

Next, as shown in step S207, the server device 300 determines the person610 or object 620 that gets on the car 750 of the elevator 700. Further,as shown in step S208, the server device 300 may acquire the informationabout the destination floor for the person 610 or object 620 that getson the car 750.

Next, as shown in step S209, the server device 300 derives the waitingposition of the mobile robot 100 in the car 750, from the determinationresult and destination floor information about the person 610 or object620 that gets on the car 750.

Next, as shown in step S210, the server device 300 sends the waitingposition, to the mobile robot 100 in the car 750. The mobile robot 100in the car 750 receives the waiting position. Thereby, as shown in stepS211, the mobile robot 100 in the car 750 moves the waiting position.

With the embodiment, the server device 300 can move the waiting positionof the mobile robot 100 in the car 750, based on the person that gets onthe car 750 of the elevator 700 or the object 620 that gets on the car750. Consequently, it is possible to restrain the blocking of themovement route for the person 610 or the object 620.

Further, the server device 300 can bear some functions of the mobilerobot 100. Consequently, it is possible to reduce the burden on themobile robot 100, and to enhance the processing speed of the mobilerobot 100. Further, the server device 300 can integrally control thebehaviors of a plurality of mobile robots 100. Therefore, it is possibleto coordinate the behaviors of the mobile robots 100, and to enhance thewhole movement efficiency of the system. The other configurations,behaviors and effects are included in the description of Embodiment 1.

The present disclosure is not limited to the above embodiments, and canbe appropriately modified without departing from the spirit. Forexample, combinations of constituents in Embodiment 1 and Embodiment 2are included in the scope of the technical idea of the presentdisclosure. Further, autonomous movement methods and autonomous movementprograms described below are included in the scope of the technical ideaof the present disclosure.

(Supplement 1)

An autonomous movement method for an autonomous movement device thatperforms autonomous movement in a facility including an elevator, theautonomous movement method comprising:

-   -   a step of determining, in a car of the elevator, a person that        gets on the car or an object that gets on the car; and    -   a step of moving a waiting position in the car, based on the        person or the object.

(Supplement 2)

The autonomous movement method according to supplement 1, wherein:

in the step of determining the person or the object, the person or theobject is determined before the car stops at a floor or before a door ofthe car opens; and

in the step of moving the waiting position in the car, the waitingposition is moved before the car stops at the floor or before the doorof the car opens.

(Supplement 3)

The autonomous movement method according to supplement 1 or 2, wherein:

in the step of determining the person or the object, it is determinedwhether the car arrives at a destination floor for the autonomousmovement device before the car arrives at a destination floor for theperson or the object; and

in the step of moving the waiting position in the car, the autonomousmovement device once gets off the car on a floor where the person or theobject gets on the car, and gets on the car after the person or theobject gets on the car.

(Supplement 4)

The autonomous movement method according to any one of supplements 1 to3, wherein:

the object is another autonomous movement device; and

in the step of determining the person or the object, information about adestination floor for the other autonomous movement device is acquiredbefore the car stops at a floor or before a door of the car opens.

(Supplement 5)

An autonomous movement program for an autonomous movement device thatperforms autonomous movement in a facility including an elevator, theautonomous movement program causing a computer to execute:

-   -   determining, in a car of the elevator, a person that gets on the        car or an object that gets on the car; and    -   moving a waiting position in the car, based on the person or the        object.

(Supplement 6)

The autonomous movement program according to supplement 5, wherein:

in determining the person or the object, the computer determines theperson or the object before the car stops at a floor or before a door ofthe car opens; and

in moving the waiting position in the car, the computer moves thewaiting position before the car stops at the floor or before the door ofthe car opens.

(Supplement 7)

The autonomous movement program according to supplement 5 or 6, wherein:

in determining the person or the object, the computer determines whetherthe car arrives at a destination floor for the autonomous movementdevice before the car arrives at a destination floor for the person orthe object; and

in moving the waiting position in the car, the computer causes theautonomous movement device to once get off the car on a floor where theperson or the object gets on the car, and causes the autonomous movementdevice to get on the car after the person or the object gets on the car.

(Supplement 8)

The autonomous movement program according to any one of supplements 5 to7, wherein:

the object is another autonomous movement device; and

in determining the person or the object, the computer acquiresinformation about a destination floor for the other autonomous movementdevice, before the car stops at a floor or before a door of the caropens.

What is claimed is:
 1. An autonomous movement system that performsautonomous movement in a facility including an elevator, wherein theautonomous movement system moves a waiting position in a car of theelevator, based on a person that gets on the car or an object that getson the car.
 2. The autonomous movement system according to claim 1,wherein the autonomous movement system determines the person or theobject before the car stops at a floor or before a door of the caropens, and moves the waiting position before the car stops at the flooror before the door of the car opens.
 3. The autonomous movement systemaccording to claim 1, wherein in a case where the car arrives at adestination floor for the autonomous movement system before the cararrives at a destination floor for the person or the object, theautonomous movement system once gets off the car on a floor where theperson or the object gets on the car, and gets on the car after theperson or the object gets on the car.
 4. The autonomous movement systemaccording to claim 1, wherein: the object is another autonomous movementsystem; and the autonomous movement system acquires information about adestination floor for the other autonomous movement system, before thecar stops at a floor or before a door of the car opens.
 5. An autonomousmovement system comprising: an autonomous movement device that performsautonomous movement in a facility including an elevator; and a serverdevice that exchanges traveling information with the autonomous movementdevice, wherein the server device moves a waiting position of theautonomous movement device in a car of the elevator, based on a personthat gets on the car or an object that gets on the car.
 6. Theautonomous movement system according to claim 5, wherein the serverdevice determines the person or the object before the car stops at afloor or before a door of the car opens, and moves the waiting positionof the autonomous movement device before the car stops at the floor orbefore the door of the car opens.
 7. The autonomous movement systemaccording to claim 5, wherein in a case where the car arrives at adestination floor for the autonomous movement device before the cararrives at a destination floor for the person or the object, the serverdevice causes the autonomous movement device to once get off the car ona floor where the person or the object gets on the car, and causes theautonomous movement device to get on the car after the person or theobject gets on the car.
 8. The autonomous movement system according toclaim 5, wherein: as the autonomous movement device, there is aplurality of autonomous movement devices including a first autonomousmovement device and a second autonomous movement device; the autonomousmovement device in the car is the first autonomous movement device; theobject is the second autonomous movement device; and the server devicesends information about a destination floor for the second autonomousmovement device to the first autonomous movement device, before the carstops at a floor or before a door of the car opens.
 9. An autonomousmovement method for an autonomous movement device that performsautonomous movement in a facility including an elevator, the autonomousmovement method comprising: a step of determining, in a car of theelevator, a person that gets on the car or an object that gets on thecar; and a step of moving a waiting position in the car, based on theperson or the object.
 10. An autonomous movement program for anautonomous movement device that performs autonomous movement in afacility including an elevator, the autonomous movement program causinga computer to execute: determining, in a car of the elevator, a personthat gets on the car or an object that gets on the car; and moving awaiting position in the car, based on the person or the object.